Connection to UART - XM430-W210-R / XM430-W350-R

To control X Series with a personally made
Main Controller, the signal of Main Controller UART should be converted
into RS485 type signal. The following is a recommended circuit diagram.

The power of Dynamixel is supplied via Pin1(-),
Pin2(+).

(The above circuit is built into Dynamixel-only
controller.)

In the above circuit diagram, the direction
of data signal of TxD and RxD in the TTL Level is determined according
to the level of DIRECTION 485 as follows:

In case of DIRECTION485 Level = High: The
signal of TxD is output to D+ and D-.

In case of DIRECTION485 Level = Low: The
signal of D+ and D- is output to RxD.

Pin Assignment

The pin assignment of a connector is as shown
below. The X-series Dynamixel has two 4pin connectors on it and
those two connectors have the same function. So, you may use any of the
two when connecting the actuators.